WO2006054581A1

WO2006054581A1 - Swing control device and construction machinery

Info

Publication number: WO2006054581A1
Application number: PCT/JP2005/021012
Authority: WO
Inventors: Jun Morinaga; Tadashi Kawaguchi; Hiroaki Inoue
Original assignee: Komatsu Ltd.
Priority date: 2004-11-17
Filing date: 2005-11-16
Publication date: 2006-05-26
Also published as: US20070277986A1; US8000862B2; CN101057044A; EP1813728A1; JPWO2006054581A1; JP4359621B2; CN101057044B; EP1813728A4

Abstract

In a swing control device mounted on a motorized swing shovel (construction machinery), when a quick operation by a swing lever causes the abrupt rise or fall of a lever signal, a gradient corresponding to rise time Ta1 or fall time Tb1 is imparted to torque output produced accordingly or to acceleration rise or fall to make the signal somewhat gentle. Therefore, impact-causing acceleration/deceleration of a swing body can be controlled. Specifically, such a gradient at accelerating is imparted that sets rise time Ta1 to at least 0.15 sec and such a gradient at decelerating/stopping is imparted that sets fall time Tb1 to at least 0.1 sec.

Description

Specification

Swivel control device and construction machine

Technical field

TECHNICAL FIELD [0001] The present invention relates to a turning control device and a construction machine for a turning body that is turned by an electric motor.

Background art

[0002] In recent years, a hybrid type electric swivel excavator has been developed in which a revolving body is driven by an electric motor and other work machines and traveling bodies are driven by a hydraulic actuator (see, for example, Patent Document 1).

In such an electric swivel excavator, the swinging motion of the swinging body is performed by an electric motor. Therefore, even if the swinging body is swung simultaneously with the lifting operation of the hydraulically driven boom or arm, the swinging body can be operated evenly. Unaffected by climbing motion. For this reason, as compared with the case where the revolving body is also driven hydraulically, the loss in the control knob or the like can be reduced and the energy efficiency is good.

[0003] Patent Document 1: Japanese Patent Laid-Open No. 2001-11897

Disclosure of the invention

Problems to be solved by the invention

[0004] By the way, for electric swing excavators, the speed command value corresponding to the lever signal from the swing lever is compared with the actual speed, and the torque output corresponding to the torque command value obtained by the deviation force is obtained. Acceleration / deceleration is often performed.

Therefore, when the rise or fall of the lever signal is abrupt due to agile operation of the swivel lever, etc., the speed command value will change almost linearly and the deviation from the actual speed will increase, resulting in a large torque. Will be output suddenly. For this reason, since the torque output is steep, acceleration / deceleration is also performed suddenly, resulting in a problem that the operator is easily subjected to a strong impact.

[0005] An object of the present invention is to provide a turning control device and a construction machine that can reduce an impact at the time of acceleration / deceleration of a turning body even when the turning lever is operated quickly. Means for solving the problem

[0006] The turning control device of the present invention is a turning control device for controlling a turning body that is turned by an electric motor, and the rising and falling of the torque output of the electric motor based on a lever signal of the turning lever. Is provided with a predetermined gradient.

[0007] According to the present invention as described above, even if the rise or fall of the lever signal becomes abrupt due to agile operation of the turning lever, the torque output that is output based on this rises or falls. Acceleration / deceleration that accompanies an impact is suppressed in order to make the gradient somewhat gentle.

[0008] In the turning control device of the present invention, it is desirable to provide gradients having different magnitudes at each time of acceleration, deceleration stop, and intermediate deceleration of the revolving structure.

Here, acceleration means when the swing lever is tilted to the neutral position force to a predetermined angle, and deceleration stop means when the swing lever operated at the predetermined tilt angle is returned to the neutral position. During intermediate deceleration, this means when the swiveling lever is operated at a predetermined tilt angle and returned to an arbitrary position before the neutral position. In addition to this, a different gradient may be applied as necessary even during intermediate acceleration in which the turning lever operated at a predetermined tilt angle is further tilted.

[0009] According to the present invention as described above, since different gradients are applied according to individual operations, such as during acceleration, deceleration stop, and intermediate deceleration, the magnitude of impact varies with each operation. Even if there is a peculiar inconvenience in each operation, it will be surely resolved.

[0010] In the turning control device of the present invention, it is desirable that the turning body has a maximum acceleration of a different magnitude for each acceleration, deceleration stop, and intermediate deceleration.

[0011] According to the present invention as described above, the setting of the maximum acceleration (including the acceleration at the time of acceleration and the negative acceleration at the time of deceleration) is set for each acceleration, deceleration stop, and intermediate deceleration. For example, if the maximum acceleration during deceleration stop is set larger, the output maximum torque will also increase, improving the response during stoppage, and setting the maximum acceleration during intermediate deceleration smaller. If you do, it will slow down smoothly.

[0012] In the turning control device of the present invention, the rising gradient of the torque output at the time of acceleration is: The rise time until the torque output reaches the maximum value from zero is given to be 0.15 seconds or more, and the gradient of the torque output falling at the time of deceleration stop is the maximum value of the zero force The slope of the fall of the torque output during intermediate deceleration is such that the fall time until the zero force reaches the maximum value is reached. It is desirable that the time should be 0.15 seconds or longer.

Here, the fall of the torque output at the time of deceleration stop and at the time of intermediate deceleration is when braking (brake) torque is applied.

[0013] According to the present invention as described above, since the gradient at the time of acceleration is applied so that the rise time is 0.15 seconds or more, the impact generated at the time of acceleration is reliably suppressed. 0.1. With a rise time shorter than 15 seconds, the shock that occurs during acceleration may not be reliably suppressed. In addition, by providing a gradient at the time of deceleration stop so that the fall time is 0.1 second or more, the impact generated when the deceleration stop operation is performed is surely suppressed. In addition, by adding a gradient during intermediate deceleration so that the fall time is 0.15 seconds or more, the unique impact that occurs during intermediate deceleration is reliably suppressed.

[0014] A construction machine according to the present invention includes a revolving structure that revolves with an electric motor, and the above-described revolving control device according to the present invention for controlling the revolving structure.

[0015] According to the present invention, as described above, even when the turning lever is operated quickly, the impact at the time of acceleration / deceleration of the turning body can be reduced.

Brief Description of Drawings

FIG. 1 is a plan view showing a construction machine according to a first embodiment of the present invention.

FIG. 2 is a diagram showing an overall configuration of the construction machine according to the first embodiment.

FIG. 3 is a diagram for explaining a conventional turning control method.

FIG. 4 is a diagram for explaining a turning control method of the first embodiment.

FIG. 5 is a diagram for explaining a turning control device mounted on the construction machine of the first embodiment.

FIG. 6 is a diagram for more specifically explaining the turning control method of the first embodiment.

FIG. 7 is a diagram for specifically explaining another turning control method of the first embodiment.

FIG. 8 is a diagram showing the relationship between delay time and jerk value. FIG. 9 is a diagram for explaining how to calculate a speed command value in the first embodiment.

FIG. 10 is a flowchart for explaining how to calculate the speed command value.

FIG. 11 is a diagram for explaining a turning control device according to a second embodiment of the present invention.

FIG. 12 is a view for explaining the turning control method of the second embodiment.

Explanation of symbols

[0017] 1 ... Electric slewing excavator (construction machine), 4 ... slewing body, 5 ... electric motor, 10 ... slewing lever, 50 ... slewing control device, Tal ... rise time, Tbl, Tel ... fall time, Maximum turning acceleration ... Lja_max, Go— max, O max.

BEST MODE FOR CARRYING OUT THE INVENTION

[First Embodiment]

[1-1] Overall configuration

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing an electric swing excavator (construction machine) 1 according to the present embodiment, and FIG. 2 is a diagram showing an overall configuration of the electric swing shovel 1.

In FIG. 1, an electric swing excavator 1 includes a swing body 4 installed on a track frame constituting a lower traveling body 2 via a swing circle 3, and the swing body 4 meshes with the swing cycle 3. The electric motor 5 is turned and driven. The electric power source of the electric motor 5 is a generator 15 (see FIG. 2) mounted on the rotating body 4, and this generator is driven by the engine 14 (see FIG. 2).

[0020] As shown in Fig. 2, the swing body 4 is provided with a boom 6, an arm 7, and a packet 8 that are operated by hydraulic cylinders 6A, 7A, and 8A. It is made. The hydraulic pressure source of each hydraulic cylinder 6A, 7A, 8A is a hydraulic pump 12 driven by an engine 14. Accordingly, the electric swivel excavator 1 is a hybrid construction machine including the hydraulically driven work machine 9 and the electrically driven swivel 4.

In addition, in FIG. 2, the electric swing excavator 1 includes a swing lever 10, a controller 11, and a hydraulic control valve 13 in addition to the above-described configuration.

A lever signal corresponding to the tilt angle is output to the controller 11 from the swivel lever 10 (usually also serving as a work implement lever for arm 7 operation). Controller 11 is the lever signal The drive of the work machine 9 is controlled by giving a command to the hydraulic pump 12 and the hydraulic control valve 13 that drives the hydraulic cylinders 6A, 7A, and 8A according to the values. In addition, the controller 11 gives a command for adjusting the engine speed to the engine 14 and a command for adjusting the power generation amount to the generator 15 as necessary.

Furthermore, the controller 11 controls the turning operation of the swing body 4 by controlling the torque output of the electric motor 5. For this purpose, the controller 11 includes a turning control device 50. The turning control device 50 responds to the lever signal value and the actual speed Vact (see FIG. 5) of the electric motor 5 detected by a rotation speed sensor (not shown). Thus, a torque command value Ttar for the electric motor 5 is generated. The torque command value Ttar is output to an inverter (not shown), and the inverter converts the torque command value Ttar into a current value and a voltage value, and controls the electric motor 5 to be driven at a target speed.

[0023] [1 2] Control structure by turning control device 50

Next, the control structure of the turning control device 50 will be described while showing its control method.

Conventionally, for example, when a lever signal that rises at a substantially right angle in the form of a rectangular wave is input, as in the case where the swivel lever 10 is tilted down to a predetermined angle, the position command value is `` It was generated to increase linearly from “0”! Fig. 3 shows the turning state of the turning body in this case.

[0024] In Fig. 3, when a lever signal with a sudden rise is input (tl) and the speed command value increases linearly, a predetermined turning acceleration G1 is generated at the same time as the speed command value is generated. The turning body 4 turns with this turning acceleration G1. The speed command value is slightly dull due to the gain characteristics immediately before reaching the speed value VI corresponding to the lever signal, and thereafter becomes substantially constant at the speed value VI. For this reason, the turning acceleration falls to zero, and the turning acceleration becomes “0” when the speed command value becomes constant.

[0025] After that, when the turning lever 10 is returned to the neutral position from a state where it is turning at a constant speed with a constant speed command value, the lever signal also falls steeply (t2) The command value is generated so as to decrease linearly.

[0026] In this case, the speed command value decreases linearly and at the same time a predetermined turning acceleration in the deceleration direction is applied. The speed G2 is generated suddenly, and, conversely, the swivel body 4 is braked at this predetermined turning acceleration G2. The speed command value is slightly dull due to the gain characteristic immediately before reaching “0” according to the lever signal, and then becomes “0”. For this reason, it rises with a slow turning acceleration, and eventually reaches “0”.

[0027] By the way, in such conventional control, when acceleration and deceleration are performed by sudden operation of the turning lever 10, turning acceleration is generated at a stretch. Therefore, the peak g [ l ~ J4, especially the peak 1 of the turning acceleration rise and the peak 3 of the turning acceleration fall (tl, t2) _G This is a big shock at the start of acceleration and deceleration of the turning body 4 Is not preferable. In other words, if the peak is small like the jerk value shown in other sections, the impact can be reduced.

Therefore, in the turning control device 50 of the present embodiment, as shown in FIG. 4, in order to reduce the peak g [~ j of the jerk value, by defining the torque output gradient, A gradient is intentionally added to the falling edge to suppress the impact at the start of acceleration and deceleration. Specifically, the target turning acceleration for rotating the turning body 4 with such turning acceleration is calculated, and the speed command value according to the target acceleration is generated, so that the torque command value Ttar can be used. Specifies the gradient of torque output. As a result, acceleration is started more than when PID (Proportional Integral Differential) control, in which the torque command value tends to be large, especially when the turning acceleration rises and falls, due to the proportional calculation part and the differential calculation part. The impact at the time of starting and deceleration can be suppressed.

As shown in FIG. 5, the turning control device 50 includes speed command value generation means 51 and torque command value generation means 52.

Based on the lever signal value and the previous speed command value Vo (tl) fed back, the speed command value generating means 51 turns the swinging body 4 at the target turning acceleration on the electric motor 5. A speed command value Vo (t) is generated. For this purpose, the speed command value generation unit 51 includes a lever command speed value generation unit 511, a region determination unit 512, a target acceleration calculation unit 513, a target acceleration storage unit 514, a speed command value generation unit 515, and a speed command value. Storage unit 516 It has.

The lever command speed value generation unit 511 generates a lever command speed value Vi (t) by converting the lever signal value into a speed, and outputs it to the region determination unit 512. The lever command speed value Vi (t) is the base value of the speed command value Vo (t) .Basically, the lever command speed value Vi (t) is filtered and the amount of change is limited. This value becomes the speed command value Vo (t). In this embodiment, the lever signal value and the lever command speed value Vi (t) are in a proportional relationship.

[0031] The area determination unit 512 determines the relationship between the previous speed command value Vo (tl) and the lever command speed value Vi (t), the previous target turning acceleration G (tl), and a predetermined maximum turning acceleration Gajnax, Gbjnax. Based on the relationship between and, it is determined whether the turning state of the revolving structure 4 corresponds to the area during acceleration, deceleration stop, or intermediate deceleration. Here, “acceleration” refers to the time when the turning lever 10 is tilted to a predetermined angle. The deceleration stop is when the swiveling lever 10 operated at a predetermined tilt angle is returned to the neutral position, and the intermediate deceleration is when the swing lever is operated at a predetermined tilt angle. This is when the lever 10 is returned to an arbitrary position before the neutral position.

A target acceleration calculation unit 513 calculates a value of the target turning acceleration G (t) according to the determination result of the region determination unit 512. As shown in FIG. 6, the target acceleration calculation unit 513 has a rise time Tal of 0.15 seconds or more until the torque output reaches the maximum torque output Tajnax from “0” during acceleration. Thus, the target turning acceleration G (t) is calculated. This gives a gradient to the rise of the torque output (a l). 0.1 Rise times shorter than 15 seconds may not be able to reliably suppress the impact that occurs during acceleration.

[0033] In addition, at the time of deceleration stop, the target acceleration calculation unit 513 causes the fall time Tbl until the torque output reaches the maximum torque output Tbjnax, which is the maximum value, from "0" is 0.1 seconds or more. Thus, the target turning acceleration G (t) is calculated. This gives a gradient to the falling edge of the torque output (α 2). 0. If it is shorter than 1 second, it will be uncomfortable for the operator with a large impact.

Furthermore, as shown in FIG. 7, at the time of intermediate deceleration, the target acceleration calculation unit 513 has a falling time Tel of 0 until the torque output reaches the maximum torque output Τmax where the zero force is also the maximum value. The target turning acceleration G (t) is calculated to be 15 seconds or longer. As a result, torque A slope is given to the falling edge of the output (a 3). 0. If it is shorter than 15 seconds, there is a possibility that the specific impact that occurs during intermediate deceleration cannot be sufficiently suppressed.

[0035] FIG. 8 shows the relationship between the delay time such as the rise time Tal and the fall time Tbl, Tel and the jerk value. It can be seen that when the delay time is less than 0.1 second, the jerk value increases rapidly and the impact increases. Therefore, it is desirable to give a slope of 0.1 seconds or more even during deceleration stop with the shortest fall time Tbl. In addition, when accelerating the rotating body 4 in a stopped state, a larger impact is predicted, so it is desirable to have a rise time Tal of 0.15 seconds or more. Furthermore, since the smooth deceleration is required at the time of intermediate deceleration with a small amount of operation of the turning lever 10 compared to when the deceleration is stopped, it is desirable to have a falling time Tel of 0.15 seconds or more.

In the present embodiment, as shown in FIGS. 6 and 7, the maximum turning accelerations Gajnax, Gbjnax (FIG. 6), Gcjnax having different magnitudes at the time of acceleration, deceleration stop, and intermediate deceleration are shown. (Fig. 7) is set. In other words, among these maximum turning accelerations Gajnax, Gbjnax, Gcjnax, the maximum turning acceleration Gbjnax at the time of deceleration stop shown in Fig. 6 is set to the largest value as an absolute value, and this is output at the time of deceleration stop. The maximum torque output Tbjnax can be increased and the responsiveness when stopping can be improved.

On the other hand, the maximum turning acceleration Gcjnax during intermediate deceleration shown in FIG. 7 is set to a value different from the maximum turning acceleration Gbjnax during deceleration stop in FIG. 6, and is set to the smallest absolute value. Therefore, the maximum torque output Tcjnax output during intermediate deceleration can be made smaller and the vehicle can be smoothly decelerated.

Returning to FIG. 5, the target acceleration storage unit 514 stores the target turning acceleration G (t) calculated by the target acceleration calculation unit 513. The value stored here is used by the area determination unit 512 and the target acceleration calculation unit 513 as the previous target turning acceleration G (t-1) in the next calculation.

[0038] The speed command value generation unit 515 is configured so that the amount of change from the previous speed command value Vo (tl) fed back becomes the value of the target turning acceleration G (t) calculated by the target acceleration calculation unit 513. The speed command value Vo (t) is generated. In other words, the speed command value generation unit 515 calculates the value obtained by multiplying the target turning acceleration G (t) by the calculation step size into the previous speed command value Vo (tl). The speed command value Vo (t) is generated by calculation.

[0039] The speed command value storage unit 516 stores the speed command value Vo (t) generated by the speed command value generation means 51. The value stored here is used by the area determination unit 512 and the speed command value generation unit 515 as the previous speed command value Vo (t-l) in the next calculation.

[0040] The torque command value generating means 52 responds to the deviation between the current speed command value Vo (t) generated by the speed command value generating unit 515 of the speed command value generating means 51 and the actual speed Vact fed back. To generate a torque command value Ttar. Therefore, when the actual speed Vact does not increase with respect to the speed command value Vo (t), control is performed so that the torque output is increased to approach the target speed. Such control is speed control by general P (Proportional) control.

[0041] [1-3] Control action by turning control device 50

Next, the control action by the turning control device 50, particularly how the speed command value generating means 51 calculates and outputs the speed command value Vo (t) based on the input lever signal is shown in FIGS. 10 and the following formula. In FIGS. 9 and 10, the acceleration and deceleration stop will be described as a representative. For intermediate deceleration, the speed command value is basically calculated in the same way as when decelerating and stopping. Since it can be easily understood by explaining when decelerating and stopping, explanation here is omitted. In FIG. 9 and the mathematical formulas described below, “Ga” and “Gb” are the maximum turning accelerations Gajnax and Gb_max in FIGS.

In FIG. 9, when the operator depresses the turning lever 10 to turn the turning body 4, first, as shown in FIG. 10, the turning control device 50 reads the current lever signal value. The lever command speed value generation unit 511 of the speed command value generation means 51 converts the lever signal value into a speed to generate a lever command speed value Vi (t) (ST1).

When the region determination unit 512 takes in the lever command speed value Vi (t), the region determination unit 512 performs region determination based on a plurality of determination conditions. That is, the area determination unit 512 first determines whether or not the current lever command speed value V i (t) is greater than the previous speed command value Vo (t−l) (ST2). Thereby, it is determined whether the rotating body 4 is turning in the acceleration region or the deceleration region.

[0043] When it is determined that the current lever command speed value Vi (t) is larger than the previous speed command value Vo (tl), the area determination unit 512 continues to the current lever command speed value Vi (t ) To the previous speed command Whether the value obtained by subtracting the value Vo (t-1) is larger than the predetermined value Va2 (ST3), whether the previous target turning acceleration G (tl) is smaller than the maximum turning acceleration Ga (ST4) Determine.

That is, in FIG. 10, in the acceleration region, from the current lever command speed value Vi (t) to the previous speed command value, that is, the speed at the previous calculation step size (st mark). When the value obtained by subtracting the command value V o (tl) is larger than the predetermined value Va2 and the previous target turning acceleration G (t-1) is smaller than the maximum turning acceleration Ga, it is determined that the region is la. To do. If the target turning acceleration G (t-l) where the difference between the lever command speed value Vi (t) and the speed command value Vo (t-l) is greater than the predetermined value Va2 is equal to or greater than the maximum turning acceleration Ga, it is determined as the region Ila. If the difference between the lever command speed value Vi (t) and the speed command value Vo (t-l) is less than or equal to the predetermined value Va2, it is determined that the region is Ilia.

Next, returning to FIG. 9, the target acceleration calculation unit 513 calculates the target turning acceleration G (t) from Expressions (1) to (3) for each determination region (ST5 to ST7). At this time, each value of Jal and Ja2 corresponding to the jerk value is obtained by equation (4).

[0046] [Equation 1]

[0047] [Equation 2]

[0048] On the other hand, if it is determined that the current lever command speed value Vi (t) is equal to or less than the previous speed command value Vo (t-1), the area determination unit 512 continues. Whether the value obtained by subtracting the current lever command speed value Vi (t) from the value Vo (tl) is larger than the predetermined value Vb (ST8), and the target turning acceleration G (tl) in the previous stage is Judge whether or not it is larger than the maximum turning acceleration Gb (ST9).

In other words, in FIG. 10, in the deceleration region such as during deceleration stop or during intermediate deceleration, the value obtained by subtracting the current lever command speed value Vi (t) from the previous speed command value Vo (tl) is When the predetermined value Vb beam is large and the previous target turning acceleration G (t-1) is larger than the maximum turning acceleration Gb on the deceleration side (if the maximum turning acceleration Gb has been reached, in this case) , It is determined that the region is lb. If the difference between the speed command value Vo (tl) and the lever command speed value Vi (t) is greater than the predetermined value Vbl and the target turning acceleration G (t-1) is less than the maximum turning acceleration Gb on the deceleration side (maximum If the turning acceleration Gb has been reached), the area is determined to be lib. If the difference between the speed command value Vo (t-l) and the lever command speed value Vi (t) is less than or equal to the predetermined value Vbl, the area is judged as Illb.

Next, returning to FIG. 9, the target acceleration calculation unit 513 calculates the target turning acceleration G (t) from Expressions (5) to (7) for each determination region (ST10 to ST12). At this time, each value of Jbl and Jb2 corresponding to the jerk value is obtained by Equation (4).

[0051] [Equation 3]

Then, the target acceleration storage unit 514 stores the target turning acceleration G (t) calculated by the target acceleration calculation unit 513 in this way (ST13).

Thereafter, the speed command value generation unit 515 calculates the speed command value Vo (t) based on the target turning acceleration G (t) and the previous speed command value Vo (tl) according to Equation (8) ( ST14). Calculated speed The degree command value Vo (t) is replaced with the previous speed command value Vo (tl) and used in ST2 (ST15). The speed command value Vo (t) is continuously used by the torque command value generation means 52 to generate the torque command value Ttar.

[0053] [Equation 4]

Vo (t) = Vo (t-l) + G (t)-step (8)

[0054] As described above, by controlling the electric motor 5 with the speed command value Vo (t) obtained by the equation (8), the target rise times Tal, Tb2 and Fall times Ta2 and Tbl are added, and the impact is suppressed.

[0055] It should be noted that the maximum turning accelerations Ga and Gb are forces determined in consideration of the body sensitivity of a normal operator. Such maximum turning accelerations Ga and Gb indicate the inertia of the turning body 4 as I and electric power. If Tajnax and Tbjnax are the maximum torque output of the dynamic motor 5, the relationship is Ga = Ta_max / l, Gb = Tb_maxZl.If the inertia I changes due to the expansion and contraction of the boom 6 and arm 7, the actual maximum turning acceleration also changes. there's a possibility that.

Therefore, in the present embodiment, when the inertia I is constantly detected and the inertia I increases, the maximum torque outputs Tajnax and Tbjnax also increase, and when the inertia I decreases, the maximum torque The outputs Tajnax and Tbjnax are also controlled to be small so that the actual maximum turning acceleration is substantially constant.

Here, as a method of obtaining the inertia I, for example, the position information of the angle sensor force working machine 9 provided in the boom 6 and the arm 7 is acquired, and the swing body 4 is obtained based on the position information. Inertia I can be obtained, and the turning acceleration and torque output force inertia I during acceleration / deceleration can also be obtained (see the above relational expression).

[14] Effects of this embodiment

According to this embodiment, there are the following effects.

In other words, even if the lever signal suddenly rises or falls due to agile operation of the swivel lever 10, the rise time Tal and the rise will be affected by the torque output and acceleration rising or falling based on this. Gently add a gradient of Tbl and Tel for the lower time. Therefore, the acceleration / deceleration of the revolving structure 4 with an impact can be suppressed.

[0059] Also, since different gradients are applied according to individual operations, such as during acceleration, deceleration stop, and intermediate deceleration, the magnitude of impact varies with each operation, and each operation has its own inconvenience. Even if this occurs, they can be resolved reliably.

[0060] Specifically, since the gradient at the time of acceleration is applied so that the rise time Tal is 0.15 seconds or more, the impact generated during the acceleration can be reliably suppressed, and the fall time Tbl is 0.1. By adding a gradient for deceleration stop so that it becomes more than 2 seconds, it is possible to reliably suppress the impact that occurs when performing deceleration stop operation, and during intermediate deceleration so that the fall time Tel is 0.15 seconds or more By giving this gradient, it is possible to reliably suppress the unique impact that occurs during intermediate deceleration.

[0061] Furthermore, since the values of the maximum torque outputs Ta_max and Tb_max are variable according to the inertia I, if the inertia I of the swing body 4 increases, the maximum torque outputs Tajnax and Tbjnax increase accordingly, and conversely If the inertia I is small, the maximum torque output Tajnax, Tbjnax is also reduced so that the maximum torque output Tajnax, Tbjnax can be driven by the maximum torque output Tajnax, Tbjnax, and the acceleration is almost constant. Comfort can be improved.

[Second Embodiment]

FIG. 11 shows a view for explaining a turning control device 50 according to the second embodiment of the present invention.

In the first embodiment, the target turning acceleration considering the rise time Tal and the fall time Tbl, Tel is calculated based on the input lever signal, the target turning acceleration force speed command value is calculated, and the target is thus obtained. A torque output with a gradient and acceleration were obtained.

In contrast, in this embodiment, the speed command value obtained from the lever signal (equivalent to the speed command shown in FIG. 3 and corresponding to the actual speed without torque limitation in FIG. 12) is used as it is. In other words, the force that is obtained by multiplying the speed command value calculated as before and the speed gain, and a value corresponding to the torque command value is generated, and the torque limit having a predetermined fluctuation range to this value, A torque limit that regulates the maximum value is set, and the target gradient is given by controlling the torque output within this range. Such torque limit setting is performed by the torque limit setting means 53 in the rotation control device 50. In FIG. 11 and FIG. 12, the torque limit setting means 53 is set to have the same rise time Tal (0.15 seconds or more) as in the first embodiment, particularly in the Tal region during acceleration. The torque limit Th on the high output side and the torque limit T1 on the low output side are set in the previous stage to force the input value Tin, which is the torque command value generated once, to be output within this range. (Tout) When the corrected torque command value Tout exceeds the torque limit Tma X set separately on the rear stage side, the motor command 5 (inverter) is used as the torque command value Ttar with the torque limit Tmax as the maximum value. ) Side. In addition, the torque command value output to the electric motor 5 side is fed back to the front stage side, and ATa is added to the torque command value Tout to shift the torque limit Th, T1 on the front stage side with a predetermined gradient. Further, ΔTb is subtracted from the torque command value Tout. Further, the torque limit Tmax on the rear stage side is variable according to the inertia I of the revolving structure 4 as in the first embodiment.

[0064] Although the description of the above control is omitted, it is the same for the Ta2, Tbl, and Tb2 regions.

Also in the present embodiment as described above, it is possible to impart a targeted gradient to the torque output, and there is an effect that the impact can be surely suppressed even with agile operation of the turning lever 10.

It should be noted that the present invention is not limited to the above-described embodiments, and includes other configurations that can achieve the object of the present invention. The following modifications and the like are also included in the present invention.

That is, the present invention is mainly illustrated and described mainly with respect to specific embodiments, but those skilled in the art will be able to understand the embodiments described above without departing from the scope of the technical idea and purpose of the present invention. Can be modified in various ways.

Industrial applicability

[0066] The present invention can be applied to any construction machine in which a revolving structure is swiveled by an electric motor.

Claims

The scope of the claims

[1] A turning control device for controlling a turning body that is turned by an electric motor,

Based on the lever signal of the turning lever, a predetermined gradient is given to the rising and falling of the torque output of the electric motor.

A turning control device characterized by that.

[2] In the turning control device according to claim 1,

A gradient with a different magnitude is given each time the revolving body is accelerated, decelerated to a stop, and intermediate decelerated.

A turning control device characterized by that.

[3] In the turning control device according to claim 1 or claim 2,

The maximum acceleration of different magnitude is obtained at the time of acceleration, deceleration stop and intermediate deceleration of the revolving structure.

A turning control device characterized by that.

[4] In the turning control device according to claim 2 or claim 3,

The gradient of the rise of the torque output during acceleration is given so that the rise time until the torque output reaches the maximum value from zero is 0.15 seconds or more,

The gradient of the fall of the torque output at the time of deceleration stop is given so that the fall time until the torque output reaches the zero force maximum value is 0.1 second or more,

The gradient of the fall of the torque output during the intermediate deceleration is given so that the fall time until the torque output reaches the maximum value of zero is 0.15 seconds or more.

A turning control device characterized by that.

[5] In construction machinery,

A revolving structure that revolves with an electric motor;

A turning control device according to any one of claims 1 and 4 for controlling the turning body is provided.

Construction machinery characterized by that.